#pragma once
#include "stm32f4xx_hal.h"
#include "usart.h"
//#include <cstring>
#include "string.h"
#include "FreeRTOS.h"
#include <judgement.h>
#include "pid.h"

struct TxPacket
{
	uint8_t header = 0x5A;
	uint8_t detect_color : 1;  // 0-red 1-blue
	bool reset_tracker : 1;
	uint8_t reserved : 6;
	float roll;
	float pitch;
	float yaw;
	float aim_x;
	float aim_y;
	float aim_z;
	uint16_t checksum = 0;
}__attribute__((packed));

struct RxPacket
{
	uint8_t header = 0xA5;

	uint16_t checksum = 0;
};

class XUC
{
public:

	TxPacket TxNuc;
	RxPacket RxNuc;

	float feedforward = 1.2f;
	//FTY 25/2/16
	float yaw;
	float pitch;
	float yaw_diff;
	float pitch_diff; 
	float distance;
	bool fireadvice = false;
	float v_y;
	//Navigation
	float speed_x = 0, speed_y = 0, prespeedx, prespeedy;
	float yaw_bias =-2.7;

	float x, y, z;
	float vx, vy, vz;

	bool track_flag;
	bool test_navigation = false;


	float rad_pitch{}, rad_yaw{};
	float aim_x;
	float aim_y;
	float aim_z;


	struct {
		uint8_t game_type;
		uint8_t game_progress = 4;
		uint16_t stage_remain_time = 420;
	} test_game_status; 

	struct {
		uint16_t red_1_robot_HP;
		uint16_t red_2_robot_HP;
		uint16_t red_3_robot_HP;
		uint16_t red_4_robot_HP;
		uint16_t red_5_robot_HP;
		uint16_t red_7_robot_HP;
		uint16_t red_outpost_HP = 1400;
		uint16_t red_base_HP;
		uint16_t blue_1_robot_HP;
		uint16_t blue_2_robot_HP;
		uint16_t blue_3_robot_HP;
		uint16_t blue_4_robot_HP;
		uint16_t blue_5_robot_HP;
		uint16_t blue_7_robot_HP;
		uint16_t blue_outpost_HP = 1400;
		uint16_t blue_base_HP;
	}  test_game_robot_HP;

	enum ARMOR_COLOR { RED = 0, BLUE };
	ARMOR_COLOR own_color;

	uint32_t count = 0, navi_count = 0, aim_count = 0;
	void Init(UART* huart, USART_TypeDef* Instance, uint32_t BaudRate);
	void Decode();
	void Encode();
	PID autoaim_controller[2];
	bool stm32_fireadvice = false;
	float yaw_pre, yaw_spd, k_feedforward = 0.5f;

	uint16_t CRC16_INIT = 0xFFFF;
	uint16_t CRC_TAB[256] = {
		0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48, 0x9dc1, 0xaf5a, 0xbed3,
		0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
		0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
		0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
		0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50,
		0xfbef, 0xea66, 0xd8fd, 0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
		0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285, 0x430c, 0x7197, 0x601e,
		0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
		0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
		0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
		0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693,
		0xc22c, 0xd3a5, 0xe13e, 0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
		0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1, 0x0948, 0x3bd3, 0x2a5a,
		0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
		0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
		0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
		0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df,
		0x0c60, 0x1de9, 0x2f72, 0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
		0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e, 0xf687, 0xc41c, 0xd595,
		0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
		0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
		0x3de3, 0x2c6a, 0x1ef1, 0x0f78
	};

	uint16_t getCRC16CheckSum(const uint8_t* pchMessage, uint32_t dwLength, uint16_t wCRC);
	uint32_t verifyCRC16CheckSum(const uint8_t* pchMessage, uint32_t dwLength);
	void appendCRC16CheckSum(uint8_t* pchMessage, uint32_t dwLength);

	//uint8_t predata[48];

private:


	QueueHandle_t* queue_handler = NULL;
	BaseType_t pd_Rx, pd_Tx;
	UART* m_uart;

	uint8_t* frame;
	uint8_t m_frame[UART_MAX_LEN]{};
	uint8_t tx_data[60];

	float u8_to_float(uint8_t* p) {
		float s{}; uint8_t ch[4];
		ch[0] = p[3]; ch[1] = p[2]; ch[2] = p[1]; ch[3] = p[0];

		memcpy(&s, p, 4); return s;
	}
	float FR4(uint8_t* p)
	{
		float s;
		memcpy(&s, p, 4);
		return s;
	}

	int test_cont = 0;
};

extern XUC xuc;
